DE2231948A1 - SPEED CONTROL DEVICE FOR A DRIVE MOTOR - Google Patents

Description

June 29, 1972

Dr B. <f _; ; .- NFR ^y AO-X- (OHJ

DIPL.-ING. JR; - .:>
IiXX) MC NCH

ENQINS MATRA S.A. Velizy (Yvelinee) France

Patent application

Speed control device for a drive motor

The invention relates to a speed control device for a drive motor, in particular for equipment of vehicles that move in suitable places with automatic control, such as the carriages of an underground railcar train or other vehicles

The automatic control of such vehicles results in one Number of problems · In practice, the B®s acceleration » decelerations or decelerations and the derivatives of the acceleration to which the wagon or wagons of a multiple unit train are subjected are not to exceed certain physiologically permissible values without causing discomfort or difficulties occur to the passengers *

In many cases it is stipulated that the acceleration or deceleration must not exceed the value of 1.3 m / sea and that the derivative of the normal acceleration must not exceed a value of 0.6 m / secr.

Currently known engine controls do not allow the consideration of these values, which are referred to below as

209883/0753

"Constraints ^{11 are} designated ·

The invention is based on the object of " creating a speed control device for a drive motor of a vehicle" which makes it possible to use continuously or discontinuously transmitted setpoint values of the speed to generate a continuous control signal for the motor, taking into account the restrictions with regard to the acceleration and the Derive the acceleration to gain · Here & c4i the target speed can be reached in minimum tent under consideration of the restrictions and the so controlled- «Jfctor should be able to be speed-regulated»

The task & 3 € is based on a speed control device for a Antrlebamatos? In accordance with the invention, this is solved by the fact that the preliminary plan receives speed values that are compared with the actual speed of the vehicle. to supply a signal for the selection of one source of the derivative öer ^ clti ^ schleiiriigimg, whereby this derivative In a? Tr 'c% r? * & - «Qv, taking into account the restrictions in particular; i> «f the I & ^ egreJL is integrated and where the resultis x '-;y.-''-c" Svilbeschlassunglgusä with control of the motor;

After feliifci ^; i / e-itjspbil &'Kg ötr Erfiadimg the integration of the At! i.si.: .-';':'^;·.;; * Ί- $ τ- analysis by an integrator »to the one-3; - ^ λ.? - i ^ &. Mgseinrichtung for the integration value parfellelger" * ii-M; et did ·

The supplied by ü &: *; '/ ■: ■ .t ^ gi'ivtcr «Solibesclileunigung is a Kotcpas-v * c? ü & sr comparison * = sugeiU ^ t »of the comparison swtgöhci * 3ar Boll'beschünschlgimg uu <3 the actual Beeohiaiirvi ^ iJifT, dos vehicles durohfükrfc. where the resulting «? SJpi- ^ l controls an amplifier «, d <sr on motor

209Ö83 / 0753 BADORtQINAt

Another advantageous embodiment of the invention is in the case of a ready speed-controlled motor a target value obtained by comparison is used the actual speed of the vehicle is obtained with the speed setpoint received at the input « these two speeds being fed to a comparator, the output signal of which is fed to a selection circuit fttr the value of the derivative of the acceleration is supplied, the resulting signal being integrated and limited and the target acceleration thus obtained with a signal is compared, which results from the comparison of the target speed and the actual speed, wherein this resulting signal is fed to an integrating device which gives the setpoint speed.

This facility enables the retention of an address. level in a minimum of time if the target acceleration is greater than the actual acceleration that the engine can give the vehicle

Further details and advantageous configurations of the Br finding result from the subclaims.

The invention is explained in more detail below with reference to the exemplary embodiments shown in the drawing.

Show in the drawing «

Pig. 1 is a block diagram of a first embodiment the control device;

Fig. 2 is a diagram of the acceleration starting Isti gained from the limitations imposed on the derivation of acceleration

209883/0753

Fig. 3k, the geometric extraction of the addressing 3B, JC of the Hegel device as a function of the

Time;

4 shows a path-speed diagram of a

controlled vehicle between two stations; j

Fig. 5 is a block diagram of a second embodiment,

form of the control device!

Fig. 6a a control for a discontinuous) Target speed; \ FIg * 6B a control for a binary (tout ou j

rien) Value of the target speed · j

As shown in FIG. 1, the speed control device is for controlling the speed of a vehicle 1 which is driven by a motor 2 controlled by an amplifier 2 is determined. The control device receives speed setpoints Vg in discontinuous Way and a continuous control signal for the motor is to be created, taking into account the Limitations on the acceleration and the derivative of the acceleration.

The restrictions on the derivative of the acceleration γ are as follows:

The derivative of the acceleration can only be the three assume the following values} + a, o, -a. Here is a for the Passenger convenience maximum allowable value. This is an application example for a

♦ /.

209883/0753

i - 5 -

Regulated vehicle · The restrictions may apply in the case of a vehicle that transports fragile objects, etc. be different*

The restrictions with regard to the derivation of the acceleration γ are given in the following table (1)!

γ * m + a if t > ^ ¹ ^ γ '»ο if-f < i y ·» -a if t < ti

In this table, the variable 6, on which T depends, is obtained by comparing the setpoint speed Vg and the actual speed V ₃ , as will be explained further below.

In order to avoid an oscillation in the range of t ^a 0, a limit value C _{1 is} selected for continuous operation, which is not equal to 0 but is very small · So E _{1 is set} to approximately 0.5 % of the speed range V _£ «

Starting from the values of γ given above, an integration is carried out in the various sections, resulting in the accelerations listed in Table (2) below

r * »S r _at if -L« <) T _e <+ L y _e β + L if J f "dt> L _re - -L ¹ if Jy- dt <£ -L *

Here, L is the restriction on acceleration and L * is the restriction on braking.

20988 3/0753

The result of this integration and the exit constraints set for Y form the subject of Flg. 2. The acceleration f _c , which is defined by the following equation, is used as the control acceleration for the motor

Y ₈ )

For the coefficient K ₂ , K ₂ «* 10 is chosen so that the actual acceleration} f _{g is} close to the acceleration y * _e .

The setpoint speed Vg is fed to the control device. Furthermore, the control _{device is supplied with the actual speed V g} , which is obtained, for example, from the vehicle. A specific signal Vg -Vg results from the comparison of these two speeds in the comparator 4. Since this signal does not take into account the phase lead, the signal V _{3 is} used, which is derived in the device 5 and which is _{multiplied by K 1} in the multiplier 6 in order to feed it to the comparator 7 «

This comparator 7 supplies the signal at the output

K P

£ - v _E - V ₃ - (jVrp *) ^v s

P is the LAPLAGE operator.

The signal £ is fed to the selection device 8 for the setpoint value, which supplies one of the three values of If at its output, which are given in table (1) * These derivatives

2 0 9 R 8 3/0 7 5 3 ^

The acceleration is integrated in the integrator 9, a limiting device 10 is connected in parallel to this integrator, which defines ^{the maximum (L) and minimum (-L 1} ) values of the target acceleration γ the signal supplied to the integrator 9 exceeds the value + L or less than the value -L * 1st Switch off integrator «The signal γ * is fed to the comparator 11, which _{compares it with the actual acceleration y g} , which is obtained on the basis of the actual speed« The output signal of the comparator 11 is then multiplied by K _{2 in the multiplier 12} the control _{acceleration y o} supplied to the amplifier 3 "This amplifier controls the motor 2, which drives the vehicle 1"

By choosing the various control elements and in particular by setting K ₂ to K ₂ <** 10, you can regulate considerable changes in the masses transported by the vehicle. In practice, the vehicle can be completely occupied or empty from one station to another "The actual speed V _{g of} the vehicle is measured in a known manner" To obtain the actual acceleration γ of the vehicle, based on the actual speed, it is derived in the usable frequency range (0-1 Hz).

For the geometric representation of the response of the control Refer to Figures 3A, JB and 3C for the illustration of speeds and accelerations are referred to as a function of time

2 09 8 8370 75 3

By transforming equation (4), we get the following Equation!

Γΐ + (Τ + K ₁ ) P " 7

[ι + rp J

PUr the given Pall T ο * 0.1 s and K ₁ ~ 1.1 s

_# Γι + (r + K ₁ ) ρ Ι

and iik / dem V * j '' ·

^v s

is set, the curve is obtained according to Pig · 3A.

Given the limit values of B , one obtains three possible values of γ , those in Pig. JB are shown. The value y * is obtained through integration, which is stored in Pig. 5C is shown * The response of this regulation is extremely fast. Taking this fact into account, it is sufficient to change the setpoint speed V "quickly in order to change the operating behavior of the controlled vehicle". which is shown in Pig «4. In this diagram, the setpoint speed Vg is shown with dashed lines. This diagram shows in particular the decrease in speed of the vehicle, which is accelerated starting from speed 0 at station A until it reaches a speed that corresponds to the setpoint V »The vehicle then moves continues at this speed and is then progressively slowed down after the setpoints V _n , V ₁ -,

Ht JS JS

Vg received in order to finally stop at station B. From the diagram according to FIG. 4 it can be seen that one

20988 3/0753 '

a continuous speed is obtained based on discontinuous speed setpoints.

A second embodiment of the control device is shown in FIG. shown. In this case, it is a matter of controlling a motor that is already speed-regulated. ”This arrangement The arrangement is similar to the embodiment shown in FIG. 1 very similar and to simplify the illustration, the same reference numbers have been retained for corresponding elements »

The control is applied to a vehicle 1 which is driven by a motor 2 "which is already speed-controlled". The motor 2 receives a control speed Vg which takes into account the actual speed Vg and the restrictions on the acceleration and the derivation of the acceleration * For this purpose, the actual speed V _{3 is} given a phase lead by the device 13. The output signal is fed to the comparator 4, which at the same time receives a signal corresponding to the set speed V g. The output signal delivers one of the three values of the derivative the acceleration Y in the device 8 "This derivative of the acceleration Γ is integrated in the integrator 9, the value of the integral being limited in the device 10" This results in the target acceleration y "_ which is fed to the comparator 14. This comparator 14 receives also a signal from the positive part of the social wind difference originates from the device, which in turn receives a speed difference signal from the comparator 1.6. The function of the "positive part" of device 17 is such that for a positive input the output corresponds to the input; for a negative input the output equals 0 «The two inputs of the comparator 16 are the actual speed V ₀ and the control speed V- * The comparator 14 delivers a signal,

20S883 / 0753

which is transformed in the device 15 and supplies the control signal V ""

As was shown above, the control device is in the second embodiment of the control device no longer a moment like in the first case, but one Speed · The response of this control corresponds to that of the first embodiment and the areas of application are same.

The speed control device described is particularly for the control of drive motors "drive the vehicles" suitable «and enables automatic control at suitable places» such as in a subway network or corresponding places.

In the above description, control by discontinuous target speeds has been sought. It is However, in the same way, it is possible to «achieve control by means of" all-or-nothing "speed signals«

These two types of control are shown schematically in the Flg. 6A and 6b . The task of the first type of control is "to modulate the amplitude of the speed" while the second type of control enables the control of the duration. These two types of control can be superimposed "when it comes to" making speed corrections, for example .

It is found at a Vergleloh Fig. 6k and 6B 'that in the first case, the actual speed of the vehicle at the end of a certain time the Sollgesohwlndlgkeit erreichtt In contrast, in the case of the "all-or-Niohts- ^H control, the input signal (in the present case

209883/075 3

positive-negative) a signal with a large amplitude * The amplitude this signal means little »In fact, the regulation follows the dashed curve * without reaching the input signal *.

In this Fig. 6B there is a first positive signal * Bel (V a negative signal is sent out and the control curve is reversed up to the instant β , at which the device again receives a positive signal which results in the curve turning back.

Claims t

209803/0753

Claims (1)

Claims 1.) Speed control device for a drive motor * characterized in that the speed control device is supplied with target speed values Vg which are compared in a comparator (4) with the actual speed Vg of the driven vehicle (1) " become »that the output signal of the comparator (4) an Aue * The selection signal for the value of the derivative of the setpoint acceleration is that this derivative is integrated in an integrator (9), taking into account the restrictions with regard to the integral, and that the resulting setpoint acceleration for Control of the motor (2) is used 2. Control device according to claim 1 »characterized by the supply of discontinuous Target total windlgkeltswerte Vg, 3. Control device according to Anspruoh 1 »marked. by feeding continuous Target speed values 4 · Control device according to claim 1, characterized by the supply of binKren (tout ou rien) target speed values · j 5. Control device according to one of claims 1 to 4 » characterized by »that the integration \ the derivation of the acceleration takes place in an integrator (9) to which a limiting device (10) for the inte- < gration value in parallel 1st. 2 0 9 8 8 3/0753 ./. 2231 9A8 6. Control device according to one of claims 1 to 5, characterized in that the target acceleration supplied by the integrator (9) is fed to a comparator (11) for comparing the target acceleration with the actual acceleration of the vehicle, and that the output signal of the comparator (11 ) is the control signal for an amplifier O) acting on the regulated motor (2) 7 «control device according to one of claims 1 to 5 * characterized in that the drive motor (2) is speed-controlled, that the motor (2) is supplied with a target speed Vq which is determined by the comparison the actual, in a phase shifter (13) The phase-shifted speed of the vehicle with the setpoint speed value Vg supplied at the input is obtained that both speeds are compared to one another (4) are supplied, the output signal of which is supplied to a selection device (8) for the value of the derivative of the acceleration is that the output signal of the selection device (8) is integrated and fed to a limiting device, and that the target acceleration obtained in this way is compared with a signal which results from the comparison of the control speed Vq and the actual speed Vg, only the positive part of this signal being used and the resulting output signal of the comparator (14) is fed to an integrator (15), the output signal of which is the control speed Vg. 8 «Control device according to claim 7», characterized in that the signal of the target acceleration fed to the comparator (14) is a signal which results from the comparison of the control speed V_ and the actual speed V ₃ 3/075 ?! comparison comparison (14) only in the case of a positive difference is supplied and that the output signal obtained, corresponding to an acceleration, is supplied to the comparator (14) becomes »which gives the difference» from which the control speed Vq is obtained * 9 · Control device according to one of Claims 1 to 8 » characterized »that the selection device (8) for deriving the acceleration as a value delivers three different signals »one of which is the same, whereby the output signal remains 0» if the input signal oscillates around an input signal with a low amplitude » that corresponds to this initial value of 0 » 10. Control device according to one of claims 1 to 9 * characterized in that »that the limiting device (10) for the integration value» which supplies the setpoint acceleration »is a circuit with complete negative feedback» if the output signal is larger or smaller than a given value 11. Vehicle »characterized» that it is equipped with a drive motor »the one Control device according to one of claims 1 to 10 « 209883/0753 Blank page